Automatic camera calibration method

ABSTRACT

In an automatic camera calibration method in a system comprising a plurality of cameras, the automatic camera calibration method is characterized in that for each of the cameras, the estimated values of the position and posture of the camera are updated on the basis of observation information shared with the surrounding cameras and the estimated values of the respective current positions and postures of the surrounding cameras. An example of the observation information is the two-dimensional coordinate value of an image to be observed on an image plane of the camera and the size of the image to be observed.

BACKGROUND OF THE INVENTION

[0001] 1. Field of the Invention

[0002] The present invention relates to an automatic camera calibration method.

[0003] 2. Description of the Prior Art

[0004] The inventors of the present invention have aimed at a non-contact interface with a computer, and have examined a method of detecting human motion by image processing (see the following documents 1, 2, and 3).

[0005] Document 1: Hiroki Mori, Akira Utsumi, Jun Ohya, and Masahiko Yachida. Human tracking system using adaptive camera selection. In Proc. of RO_MAN'98, pp. 494-499, 1998.

[0006] Document 2: Hiroki Mori, Akira Utsumi, Jun Ohya, and Masahiko Yachida. Examination of method of tracking a plurality of persons using asynchronous multi-viewpoint information. IEICE Technical Report, PRMU98-178, pp. 15-22, 1999.

[0007] Document 3: Howard Yang, Akira Utsumi, and Jun Ohya. Stabilization of tracking of a plurality of persons using asynchronous multi-viewpoint image. IEICE Technical Report, PRMU99-150, pp. 1-7, 1999.

[0008] Considered as information related to human motion are various types of information. Here, several operations including extraction of a facial image, the height, the color of clothes, etc. which are required to identify each of persons, detection of the position and the movement direction which are required for tracking, and a seating operation are examined. By detecting information related to the operations, applications such as interaction in a virtual environment and a monitoring system are possible.

[0009] There have been conventionally a lot of suggestions about tracking of a person using an image. Many of the suggestions are by a single- or double-eye image (see the following documents 4, 5, 6, and 7) and have some problems. For example, they cannot cope with occlusion, and a detection area is narrow.

[0010] Document 4: D. M. Gavrila and L. S. Davis. 3-d model-based tracking of humans in action: a multi-view approach. In Proc. of CVPR'96, pp. 73-80, 1996.

[0011] Document 5: Ali Azarbayejani and Alex Pentland. Real-time self-calibrating stereo person tracking using 3-d shape estimation from blob features. In 13-th International Conference on Pattern Recognition, pp. 627-632, 1996.

[0012] Document 6: C. Wren, A. Azarbayejani, T. Darrell, and A. Pentland. P finder: Real-time tracking of the human body. In SPIE proceeding vol. 2615, pp. 89-98, 1996.

[0013] Document 7: M. Patrick Johnson, P. Maes, and T. Darrell. Evolving visual routines. In Proc. of Artificial Life IV, pp. 198-209, 1994.

[0014] In order to solve the problems, a person tracking system utilizing a multi-viewpoint image has been vigorously studied in recent years (see the following documents 8, 9, and 10). By utilizing the multi-viewpoint image, it is considered that the occurrence of occlusion is reduced, thereby making more stable detection possible.

[0015] Document 8: Jakub Segen and Sarma Pingali. A camera-based system for tracking people in real time. In Proc. of 13-th International Conference on Pattern Recognition, pp. 63-67, 1996.

[0016] Document 9: Q. Cai, A. Mitiche, and J. K. Aggarwal. Tracking human motion in an inddor environment. In Proc. of 2nd International Conference on Image Processing, pp. 215-218, 1995.

[0017] Document 10: Q. Cai, J. K. Aggarwal. Tracking human motion using multiple cameras. In Proc. of 13-th International Conference on Pattern Recognition, pp. 68-72, 1996.

[0018] In order to track human motion in a wide range by such a system, however, a lot of cameras are required in correspondence with detection areas, thereby causing many problems. For example, a lot of vision systems presuppose that cameras carry out observations at the same time for three-dimensional measurement, and the system becomes complicated by introducing a synchronous mechanism used therefor. Further, a plurality of observations simultaneously carried out increases redundancy among the observations, thereby reducing the processing efficiency of the system. Further, it is difficult to previously calibrate all a lot of cameras as the number of viewpoints (the number of cameras) increases.

[0019] It is considered that the problems become significant as the number of viewpoints to be utilized increases. In the tracking system utilizing the multi-viewpoint image, the inventors of the present invention have considered that the problems caused by enlarging the scale thereof are essential.

[0020] Therefore, the estimation of the position and posture of the camera (the calibration of the camera) in the tracking system utilizing the multi-viewpoint image will be considered. In the tracking system utilizing the multi-viewpoint image, it is important to also establish a method for maintenance and management such as a correspondence to the changes in the position and posture of the camera by failure during operation in addition to prior calibration of the camera.

[0021] Several methods have already been proposed with respect to the calibration of the camera in the tracking system utilizing the multi-viewpoint image.

[0022] In the following document 11, Saito et al. have found a fundamental matrix between two reference cameras and other cameras using an observation shared therebetween, to make it easy to construct a large-scaled three-dimensional video system.

[0023] Document 11: Hideo Saito and Takeo Kanade. Shape reconstruction in projective grid space from large number of images. In Proc. of CVPR, pp. 49-54, 1999.

[0024] Furthermore, in the following document 12, Lee et al. have proposed a method of finding, by an observation shared between a reference camera and each camera utilizing a target object moving on a plane, the relative position and posture from the reference camera.

[0025] Document 12: L. Lee, R. Romano, and G. Stein. Monitoring activities from multiple video streams: Establishing a common coordinate frame. IEEE Pattern Anal. Machine Intell., Vol. 22, No. 8, pp. 758-767, 2000.

[0026] However, the methods cannot be applied to a case where an observation is not shared between a camera to be calibrated and a reference camera.

[0027] Contrary to this, the inventors and others have proposed a method of estimating the position and posture of a camera utilizing the three-dimensional motion of a person who is being tracked (see the following document 13). In this method, however, a plurality of calibrated cameras are required to find the motion of the person.

[0028] Document 13: Hirotake Yamazoe, Akira Utsumi, Nobuji Tetsutani, and Masahiko Yachida. Automatic Camera calibration method for multiple camera based human tracking system. In Proc. of IWAIT 2001, pp. 77-82, 2001.

SUMMARY OF THE INVENTION

[0029] An object of the present invention is to provide an automatic camera calibration method in which all cameras need not share an observation with a reference camera, and a local observation which is not shared with the reference camera can be also utilized for estimating the respective positions and postures of the cameras.

[0030] Another object of the present invention is to provide an automatic camera calibration method capable of easily adding and deleting an observation section in a system for tracking a moving object utilizing a multi-viewpoint image.

[0031] In an automatic camera calibration method in a system comprising a plurality of cameras, the present invention is characterized by comprising the step of updating, for each of the cameras, the estimated values of the position and posture of the camera on the basis of observation information shared with the surrounding cameras and the estimated values of the respective current positions and postures of the surrounding cameras.

[0032] An example of the observation information is the two-dimensional coordinate value of an image to be observed on an image plane of the camera and the size of the image to be observed.

[0033] An example of processing for updating the estimated values of the position and posture of each of the cameras is one comprising a first step of calculating information related to the relative posture and relative position between the camera and the other surrounding cameras on the basis of the observation information shared with the other surrounding cameras and the estimated values of the respective current positions and postures of the camera and the other cameras, and a second step of updating the estimated values of the position and posture of the camera on the basis of the information related to the relative posture and relative position calculated in the first step.

[0034] Each of the cameras holds the estimated value of the posture of each of the surrounding cameras, information related to the estimation precision of the respective postures of the camera and each of the surrounding cameras, the estimated value of the position of each of the surrounding cameras, and the estimation precision of the respective positions of the camera and each of the surrounding cameras. The second step of updating the estimated values of the position and posture of each of the cameras comprises the steps of updating the estimated value of the posture of the camera on the basis of the information related to the relative posture calculated in the first step, the estimated value of the posture of each of the surrounding cameras which is held by the camera, and the information related to the estimation precision of the respective postures of the camera and each of the surrounding cameras, and updating the estimated value of the position of the camera on the basis of the information related to the relative position calculated in the first step, and the estimated value of the position of each of the surrounding cameras which is held by the camera, and the information related to the estimation precision of the respective positions of the camera and each of the surrounding cameras.

[0035] It is preferable that the processing for updating the estimated values of the position and posture of each of the cameras is performed every time new observation information is obtained in the camera. It is preferable that the posture in a world coordinate system of at least one camera and the positions in the world coordinate system of at least two cameras are given as bases in order to determine world coordinates,.

[0036] An example of the observation information is the two-dimensional coordinate value of an image to be observed on the image plane shared between at least the two cameras. In this case, in the processing for updating the estimated values of the position and posture of each of the cameras, processing for updating the estimated values of the position and posture of the camera on the basis of the observation information shared with the other surrounding cameras and the estimated values of the respective current positions and postures of the other cameras, for example, is performed in a distributed manner for the cameras.

[0037] The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

[0038]FIG. 1 is a block diagram showing the overall configuration of a person tracking system;

[0039]FIG. 2 is a schematic view for explaining processing for extracting a feature point by an observation section;

[0040]FIG. 3 is a schematic view showing an observation model used for estimating the position of a tracking section;

[0041]FIG. 4 is a schematic view showing the flow of the estimation of the position and posture of a camera;

[0042]FIG. 5 is a schematic view for explaining a method of updating the position and posture of a camera;

[0043]FIG. 6 is a schematic view for explaining a method of finding m_(kl) and y_(kl) from image features;

[0044]FIG. 7 is a graph showing the results of an experiment;

[0045]FIG. 8 is a schematic view showing the flow of the estimation of the position and posture of a camera;

[0046]FIG. 9 is a schematic view showing an example of the arrangement of a camera used in an experiment;

[0047]FIG. 10 is a graph showing two-dimensional observation information obtained in each of cameras (camera 1-4) shown in FIG. 9; and

[0048]FIG. 11 is a graph showing the results of an experiment.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0049] Referring now to the drawings, an embodiment of the present invention will be described.

[0050] A person tracking system utilizing an asynchronous multi-viewpoint image which has already been developed by the inventors and others of the present invention will be first described, and an automatic camera calibration method which characterizes the present invention will be thereafter described.

[0051] [1] Description of Person Tracking System

[0052] [1-1] Description of Overall Configuration of Person Tracking System

[0053]FIG. 1 illustrates the overall configuration of a person tracking system.

[0054] The person tracking system comprises cameras 2#1, 2#2, . . . , 2#n (hereinafter generically referred to as a camera 2) observation sections 4#1, 4#2, . . . , 4#n (hereinafter generically referred to as an observation section 4) respectively provided in correspondence with the cameras, a discovery section 6, and a tracking section 8. Each of the observation sections 4, the discovery section 6, and the tracking section 8 are respectively constructed by different computers, for example, and the computers are connected to one another by a LAN (Local Area Network).

[0055] Each of the observation sections 4 performs processing for extracting feature amounts on the basis of an input image obtained from the corresponding camera 2. The feature amounts (the position of a representative point, the position of a head vertex, the color of a clothes region, etc.) obtained by each of the observation sections 4 are made to correspond to a tracking model on the basis of information related to an estimated position sent from the tracking section 8. Thereafter, the feature amounts, together with information related to an observation time are then sent to the tracking section 8. The information sent to the tracking section 8 from each of the observation sections 4 after being made to correspond to the tracking model shall be referred to as observation information related to a corresponding point.

[0056] The feature amount which is not made to correspond to the tracking model is sent to the discovery section 6. The information sent to the discovery section 6 from each of the observation sections 4 when it is not made to correspond to the tracking model shall be referred to as observation information related to a non-corresponding point. The observation sections 4 are independently operated.

[0057] In the discovery section 6, a person who has newly appeared in a scene is detected using the non-corresponding point observation information sent from the observation section 4. Information (an initial value) related to the position of the new person is transmitted to the tracking section 8, where the tracking thereof by the tracking section 8 is started.

[0058] The tracking section 8 updates the states (the position, the directional angle, the height, etc.) of the new person using a Kalman filter by taking the new person position information as an initial value and taking the corresponding point observation information as an input value, to further estimate the position thereof on the basis of an observation model, described later. The estimated position information is transmitted to the observation section 4.

[0059] [1-2] Description of Observation Section

[0060] Processing performed by the observation section 4 will be described. First, an input image is divided into a person region and a background region. As a region dividing method, a method disclosed in the following document 14 can be used.

[0061] Document 14: Akira Utsumi, and Jun Ohya. Extraction of animal body region from time series image by estimation of pixel value distribution. Trans, IEICE, Vol. J81-D-II, No. 8, pp. 1768-1775, 1998.

[0062] The obtained person region is then subjected to distance transformation. That is, for each of pixels composing the person region, the shortest distance from the pixel to the boundary of the person region is found, to take the obtained distance as a transformed distance value of the pixel. As a result, each of the pixels in the person region which has been subjected to distance transformation has a transformed distance value corresponding to the shortest distance from the pixel to the boundary of the person region.

[0063] The left of FIG. 2 illustrates a binary image obtained by region segmentation, and the right of FIG. 2 illustrates an image obtained by distance transformation. As illustrated in the right of FIG. 2, the larger the transformed distance value of the pixel is, the blacker the color of the pixel is.

[0064] A point (a center of gravity) G at which the transformed distance value reaches a maximum in the person region is then selected as a representative point (feature point) in the region. Further, the positions of a head vertex and a toe point and information related to the color of a body portion are extracted from the image. The color information is used for a correspondence in image features between different cameras. The distance on the image between the head vertex and the toe point is utilized as the size of the feature point (representative point). Thereafter, a correspondence between the extracted feature point and the tracking model which has already been discovered is established.

[0065] Description is made of a method of establishing a correspondence between the extracted feature point and the tracking model which has already been discovered. It is assumed that a person moves at a constant speed in the tracking section 8, as described later. The estimated position of a person hj at a time t is indicated by a two-dimensional Gaussian distribution. Here, X_(hj,t) is taken as the estimated position in a world coordinate (X, Y) system of the person hj at the time t, {overscore (X)}_(hj,t) is taken as the average estimated position, and {overscore (S)}_(hj,t) is taken as a covariance matrix.

[0066] The result of weak perspective projection of an estimated position distribution N ({overscore (X)}hj,t,{overscore (S)}_(hj,t)) on an image i is a one-dimensional Gaussian distribution n ({overscore (x)}_(hj,t,i,){overscore (s)}_(hj,t,i)) composed of a probability P_(i) (x_(i)) expressed by the following equation (1). The one-dimensional Gaussian distribution n ({overscore (x)}_(hj,t,i),{overscore (s)}_(hj,t,i)) indicates the existence probability of the person on an image i. Here, {overscore (x)}_(hj,t,i) denotes a value obtained by projecting {overscore (X)}_(hj,t) on an image plane, and {overscore (s)}_(hj,t,i) denotes a value obtained by projecting {overscore (S)}_(hj,t) on the image plane: $\begin{matrix} {{P_{i}\left( x_{i} \right)} = {\frac{1}{2\pi \quad {\overset{\_}{s}}_{{hj},t,i}}{\exp \left( \frac{- \left( {x_{i} - {\overset{\_}{x}}_{{hj},t,i}} \right)^{2}}{2{\overset{\_}{s}}_{{hj},t,i}^{2}} \right)}}} & (1) \end{matrix}$

[0067] The respective distributions of the height of the head vertex and the color of clothes are also considered, to take the feature point at which the occurrence probability of an observation value reaches a maximum against the tracking model as an observation corresponding to the person hj at an observation time and attach a label of hj thereto (see the foregoing document 3).

[0068] The feature point having the label attached thereto is transmitted to the tracking section 8 as corresponding point observation information. However, feature points which are made to respectively correspond to a plurality of persons are not transmitted because occlusion occurs at the time of the observation.

[0069] After the processing, when there exist feature points which are not made to respectively correspond to the plurality of persons, it is considered that the feature points belong to a new person. Accordingly, the feature points are sent to the discovery section 6 as non-corresponding point observation information (position and time).

[0070] [1-3] Description of Discovery Section

[0071] The discovery section 6 detects a person who has appeared on a new scene, and adds a corresponding model to the tracking section 8.

[0072] Since observation information is asynchronously acquired, a normal stereo correspondence cannot be applied as it is. Therefore, a correspondence (discovery) method using time series information utilizing the Kalman filter is used (see the foregoing document 2).

[0073] Updating processing using the Kalman filter is performed by selecting, out of the non-corresponding point observation information sent to the discovery section 6 from the observation section 4, the respective one observation information at different four times. If an error between an obtained estimated track and each of the observation information is within a predetermined threshold value, the error is taken as a set of feature points belonging to the new person, to transmit an estimated position at the newest observation time to the tracking section 8 as an initial discovery position.

[0074] [1-4] Description of Tracking Section

[0075] A person model which is being tracked is updated using image features which are made to correspond to the tracking model in each of the observation sections 4 (see the foregoing document 2).

[0076]FIG. 3 illustrates an observation model used for position estimation. In FIG. 3, l_(i) denotes the distance (focal length) between the camera 2#i and its image plane 20#i, and L_(hj,i) denotes the distance between the camera 2#i and the person hj. ψ_(hj,i) denotes an angle between a line connecting the camera 2#i and the person hj and the Y axis.

[0077] It is herein assumed that the person hj moves at a constant speed. The state of the person hj at the time t is expressed by the following equation (2) on the world coordinate (X, Y) system: $\begin{matrix} {X_{{hj},t} = \left\lbrack {X_{{hj},t}\quad Y_{{hj},t}\quad {\overset{.}{X}}_{{hj},t}\quad {\overset{.}{Y}}_{{hj},t}} \right\rbrack^{\prime}} & (2) \end{matrix}$

[0078] {dot over (X)}_(hj) having a mark “•” attached to its top indicates a speed in the X direction, and {dot over (Y)}_(hj) having a mark “•” attached to its top indicates a speed in the Y direction. However, the initial state is determined by new model information transmitted from the discovery section 6. A mark “′” attached to a matrix indicates transposition.

[0079] It is herein assumed that one observation is carried out by the observation section 4#i. The observation can be expressed by the following equation (3) by observation information sent from the observation section 4#i: $\begin{matrix} {{{HR}_{{\phi \quad {hj}},t,i}^{- 1}C_{i}} = {{{HR}_{{\phi \quad {hj}},t,i}^{- 1}X_{{hj},t}} + e}} & (3) \end{matrix}$

[0080] Here, C_(i) denotes a camera position, and Rψ_(hj,t,i) denotes a rotation in a clockwise direction through an angle ψ_(hj,t,i) between an epipolar line and the Y axis (H=[1000]). e denotes an observation error, which is an average of zero, and is taken as a standard deviation σ_(hj,t,i). σ_(hj,t,i) is expressed by the following equation (4), considering that it increases as the distance from the camera increases. $\begin{matrix} {\sigma_{{hj},t,i} = {{\frac{L_{{hj},t,i}}{l_{i}}\sigma} \cong {\frac{{\overset{\_}{L}}_{{hj},t,i}}{l_{i}}\sigma}}} & (4) \end{matrix}$

[0081] Here, the distance L_(hj,t,i) between the camera position C_(i) and the person state X_(hj,t) is unknown. Accordingly, it is approximated by {overscore (L)}_(hj,t,i) calculated by the estimated position {overscore (X)}hj,t of X_(hj,t).

[0082] The Kalman filter is constituted by the above-mentioned observation model, to update the state of the person hj.

[0083] The updating processing is independently performed for the cameras, to estimate the state of the person. The estimation of the state of the person hj at a time t+1 is given by a Gaussian distribution where {overscore (X)}_(hj,t+1) is taken as the average estimation, and {overscore (S)}_(hj,t+1) is taken as a covariance matrix. The result of the estimation of the state is calculated and transmitted depending on a request from the observation section 4, and is utilized for a correspondence of feature points, as described above. The person model which has moved outward from the detection range is deleted, to stop the tracking of the person.

[0084] The above-mentioned person tracking system has the advantage that the observations by the cameras 2 are respectively processed by the independent observation sections 4, thereby making it easy to delete any of the cameras 2 and add a new camera. In such a distributed type tracking system, it is desired that the cameras are also independently maintained and managed with respect to information related to the position and posture of each of the cameras from the assurance of processing efficiency and failure resistance. A distributed type camera position and posture estimation algorithm which characterizes the present invention will be described.

[0085] [2] Description of Camera Position and Posture Estimation Algorithm (Camera Calibration Algorithm)

[0086] In order to simultaneously estimate the respective positions and postures of a lot of cameras, calibration information such as current estimated values and covariance matrices must be held. However, the amount of the calibration information which should be held increases as the number of cameras increases. Accordingly, it is difficult to hold information related to the estimation of the respective positions and postures of all the cameras in a one-dimensional manner in a large-scaled system.

[0087] Therefore, the information related to the estimation of the respective positions and postures of the cameras are held in a distributed manner for the cameras (observation sections).

[0088]FIG. 4 illustrates the flow of the estimation of the respective positions and postures of the cameras.

[0089] In FIG. 4, C_(i) (i=1, 2, . . . k, . . . , N) denote the cameras, t_(i) denotes the position of each of the cameras, R_(i) denotes the posture of each of the cameras, Σ_(ii) denotes a covariance matrix related to an estimated position value, and M_(ij) denotes a matrix related to an estimated posture value.

[0090] Each of the cameras C_(i) corrects the position and posture of the camera using observation information shared with the surrounding cameras every time a new observation is obtained and an estimated position value and an estimated posture value at that time point of each of the surrounding cameras. Here, the surrounding camera is a camera which may share the observation information with the camera C_(i). In correcting the position and posture, a higher weight is given to the position and posture of a reference camera. In the present embodiment, the posture of one camera and the positions of two cameras are given as bases in order to determine world coordinates.

[0091] [2-1] Description of Observation Information Used for Estimating Position and Posture

[0092] Description is made of observation information utilized for updating estimated position and posture values.

[0093] Here, with respect to the camera C_(k), a matrix m_(kl) related to a relative posture (R_(l)R_(k) ⁻¹) between the camera C_(k) and the camera C_(l) and a direction (a relative position) y_(kl) (=R_(k) (t_(l)−t_(k))) of the camera C_(l) in a camera coordinate system of the camera C_(k) shall be obtained as the observation information from a plurality of times of observations shared with the camera C_(l). Although the matrix m_(kl) related to the relative posture and the relative position y_(kl) are found from the above-mentioned image features (the position of a representative point, and the distance on an image between a head vertex and a toe point), a method therefor will be described later.

[0094] The matrix m_(kl) related to the relative posture is defined as follows:

[0095] Both cameras C_(k)′ and C_(l)′ respectively having the same postures as those of the cameras C_(k) and C_(l) shall be at the origin of world coordinates. Letting R_(k) and R_(l) be respectively the postures of the cameras C_(k) and C_(l), an observation point d observed in a direction X_(k,d) on a camera coordinate system of C_(k)′ is observed in a direction X_(l,d) indicated by the following equation (5) on the camera C_(l)′: $\begin{matrix} {X_{l,d} = {{R_{l}R_{k}^{- 1}X_{k,d}} + e}} & (5) \end{matrix}$

[0096] In the foregoing equation (5), e denotes an observation error.

[0097] The matrix m_(kl) related to the relative posture is calculated on the basis of the following equation (6); $\begin{matrix} {m_{kl} = {\sum\limits_{d = 0}^{f}{X_{k,d}X_{l,d}^{\prime}}}} & (6) \end{matrix}$

[0098] In the foregoing equation (6), a mark “′” attached to X_(l,d) denotes transposition. f denotes the number of times of observations. The relative posture R_(l)R_(k) ⁻¹ between the cameras C_(k) and C_(l) can be found utilizing singular value decomposition from the foregoing equation (6) (see the following document 15).

[0099] Document 15: F. Landis Markley. Attitude determination using vector observations and the singular value decomposition. the Journal of the Astronautical Sciences, Vol. 36, No. 3, pp. 245-258, 1988.

[0100] As shown in FIG. 5, the position t_(k) and the posture R_(k) of the camera C_(k) are estimated from the matrix m_(ki) related to the relative posture found with respect to the camera C_(k) and each of the cameras and the relative position y_(ki).

[0101] [2-2] Description of Updating of Position and Posture

[0102] Description is now made of the updating of the position t_(k) and the posture R_(k) of the camera C_(k) using the matrix m_(kl) related to the relative posture between the cameras C_(k) and C_(l), as viewed from the camera C_(k), and the relative position y_(kl).

[0103] [2-2-1] Initial State

[0104] First, description is made of the initial states of the position t_(i) of each of the cameras, a covariance matrix Σ_(ii) related to an estimated position value, a posture R_(i), and a matrix M_(ij) related to an estimated posture value.

[0105] With respect to a reference camera C_(tl), . . . C_(tn) (n≧2) forming a basis for a position, the position t_(tl), . . . t_(tn) on world coordinates is given as an initial value.

[0106] With respect to the covariance matrix Σ_(ii), an initial value as expressed by the following equation (7) is given: $\begin{matrix} {\sum\limits_{ii}^{\quad}{= \begin{Bmatrix} {p_{1}I} & \left( {i \in \left\lbrack {t_{1},\ldots \quad,t_{n}} \right\rbrack} \right) \\ {p_{2}I} & \left( {i \in \left\lbrack {t_{1},\ldots,\quad t_{n}} \right\rbrack} \right) \end{Bmatrix}}} & (7) \end{matrix}$

[0107] In the foregoing equation (7), P₁ and P₂ respectively denote weighting constants, where P₁<<P₂. Further, I denotes a unit matrix.

[0108] With respect to a reference camera C_(rl), . . . C_(rm) (m≧1) forming a basis for a posture, the posture R_(rl), . . . R_(rm) on the world coordinates is given as an initial value.

[0109] With respect to the matrix M_(ij) related to the estimated posture value, an initial value as expressed by the following equation (8) is given: $\begin{matrix} {M_{ij} = \begin{Bmatrix} {q_{1}R_{ri}} & \left( {{i = j},{i \in \left\lbrack {r_{1},\ldots \quad,r_{m}} \right\rbrack}} \right) \\ {q_{2}I} & {({otherwise})\quad} \end{Bmatrix}} & (8) \end{matrix}$

[0110] In the foregoing equation (8), q₁ and q₂ respectively denote weighting constants, where q₁>>q₂. Further, I denotes a unit matrix.

[0111] [2-2-2] Updating of Position and Posture

[0112] Every time an observation is newly obtained, an estimated value in each of the cameras is locally optimized, thereby finally obtaining estimated position and posture values of all the cameras.

[0113] As shown in FIG. 5, the camera C_(k) holds estimated position values t_(i) and estimated posture values R_(i) of all the cameras C_(i) (i≠k) surrounding the camera C_(k), a covariance matrix (information related to position estimation precision) Σ_(ii) related to the estimated position values, a matrix M_(kk) related to the posture of the camera C_(k), and a matrix (information related to posture estimation precision) M_(ki) related to the relative posture between the camera C_(k) and each of the cameras C_(i).

[0114] Description is made of a method of updating the estimated posture value R_(i) and the estimated position value t_(i) in a case where new observations y_(kl) and m_(kl) are obtained in the camera C_(k).

[0115] Description is first made of the updating of the estimated posture value R_(i).

[0116] The camera C_(k) holds the estimated posture value R_(i) of the surrounding camera and the matrix M_(kl) related to the relative posture between the camera C_(k) and each of the cameras C_(i).

[0117] Here, the matrix M_(kl) is updated using the matrix m_(kl) related to the relative posture obtained by the observation and the following equation (9). Subscripts (t) and (t−1) represent time points in the following equation (9): $\begin{matrix} {M_{kl}^{(t)} = {{\frac{1}{u}M_{kl}^{({t - 1})}} + m_{kl}}} & (9) \end{matrix}$

[0118] In the foregoing equation (9), u denotes a forgetting factor.

[0119] The matrix M_(kk) related to the posture of the camera C_(k) is then updated using the following equation (10). In this case, the updated matrix M_(kl) is used as M_(kl) ^((t)). $\begin{matrix} {M_{kk}^{(t)} = {\sum\limits_{j = 0}^{N}{R_{i}^{- 1}{M_{ki}^{(t)}\left( {i \neq k} \right)}}}} & (10) \end{matrix}$

[0120] A new estimated posture value R_(k) is obtained by singular value decomposition of M_(kk).

[0121] Description is now made of the updating of the estimated position value t_(i).

[0122] The camera C_(k) holds, with respect to the position of each of the cameras, an estimated position value t_(i) at the present time point and a covariance matrix Σ_(ii) related thereto.

[0123] A new estimated position value t_(k) is found using the relative position y_(kl) obtained by the observation and the following equation (11): $\begin{matrix} {t_{k}^{(t)} = {t_{k}^{({t - I})} + {K\left( {{H^{(t)}t_{l}^{({t - I})}} - {H^{(t)}t_{k}^{({t - I})}}} \right)}}} & (11) \end{matrix}$

[0124] In the foregoing equation (11), H is expressed by the following equation (12): $\begin{matrix} {H^{(t)} = {\begin{bmatrix} 1 & 0 & 0 \\ 0 & 1 & 0 \end{bmatrix}R_{k}^{- 1}R_{kl}^{- 1}}} & (12) \end{matrix}$

[0125] R_(kl) denotes a rotation matrix satisfying the following equation (13): $\begin{matrix} {{R_{kl}\frac{y_{kl}}{y_{kl}}} = \lbrack 001\rbrack^{\prime}} & (13) \end{matrix}$

[0126] Furthermore, the covariance matrix Σ_(kk) related to the estimated position value is updated using the following equation (14): $\begin{matrix} {\sum_{kk}^{(t)}\quad {= {\sum_{kk}^{({t - 1})}{{- K^{(t)}}H^{(t)}\sum_{kk}^{({t - 1})}}}}} & (14) \end{matrix}$

[0127] Here, K is expressed by the following equation (15): $\begin{matrix} {K^{(t)} = {\sum_{kk}^{({t - 1})}{\left( H^{(t)} \right)^{\prime}\left( {{H^{(t)}{\sum_{kk}^{({t - 1})}\left( H^{(t)} \right)^{\prime}}} + G} \right)^{- 1}}}} & (15) \end{matrix}$

[0128] In the foregoing equation (15), G denotes an observation error.

[0129] The foregoing equations (11), (12), (14), and (15) are equations for updating the Kalman filter.

[0130] [2-3] Description of Method of Finding m_(kl) and y_(kl) from Image Features

[0131] As shown in FIG. 6, let x_(k) be an observation position on an image plane of the camera C_(k) at a three-dimensional position X of a person (a feature point) in a world coordinate system (XYZ), and let x_(l) be an observation position on an image plane of the camera C_(l) at the three-dimensional position X.

[0132] When it is assumed that an internal parameter matrix A_(k) of the camera C_(k) is known, the relationship between the three-dimensional position X of the person in the world coordinate system and the observation position x_(k) of the person on the image plane of the camera C_(k) is expressed by the following equation (16) from a rotation matrix R_(k) representing the posture of the camera C_(k) and a translation vector t_(k) representing the position thereof in the world coordinate system: $\begin{matrix} {{{S\begin{bmatrix} x_{k} \\ 1 \end{bmatrix}} = {{{A_{k}\left\lbrack {R_{k}\quad t_{k}} \right\rbrack}\begin{bmatrix} X \\ 1 \end{bmatrix}} = {{\begin{bmatrix} a_{1} \\ a_{2} \\ a_{3} \end{bmatrix}\left\lbrack {R_{k}\quad t_{k}} \right\rbrack}\begin{bmatrix} X \\ 1 \end{bmatrix}}}}{{{where}\quad a_{3}} = \lbrack 001\rbrack}} & (16) \end{matrix}$

[0133] Here, letting X_(ck) be the three-dimensional position of the person on a camera coordinate system (X_(ck)Y_(ck)Z_(ck)) of the camera C_(k), a relationship expressed by the following equation (17) holds between X_(ck) and X: $\begin{matrix} {X_{ck} = {\left\lbrack {R_{k}\quad t_{k}} \right\rbrack \begin{bmatrix} X \\ 1 \end{bmatrix}}} & (17) \end{matrix}$

[0134] That is, the relationship between the observation position x_(k) of the person on the image plane of the camera C_(k) and the three-dimensional position X_(ck) of the person in the camera coordinate system of the camera C_(k) is expressed by the following equation (18): $\begin{matrix} {{S\begin{bmatrix} x_{k} \\ 1 \end{bmatrix}} = {A_{k}X_{ck}}} & (18) \end{matrix}$

[0135] The following equation (19) is obtained by deforming the foregoing equation (18): $\begin{matrix} {X_{ck} = {{{sA}_{k}^{- 1}\begin{bmatrix} x_{k} \\ 1 \end{bmatrix}} = {{s\begin{bmatrix} a_{m1} \\ a_{m2} \\ a_{m3} \end{bmatrix}}\begin{bmatrix} x_{k} \\ 1 \end{bmatrix}}}} & (19) \end{matrix}$

[0136] Letting Z_(xck) be the z component of X_(ck), Z_(xck) is expressed by the following equation (20): $\begin{matrix} {Z_{xck} = {{sa}_{m3}\begin{bmatrix} x_{k} \\ 1 \end{bmatrix}}} & (20) \end{matrix}$

[0137] On the other hand, when a weak perspective conversion is assumed with respect to the image features, and w_(k) denotes the size of the feature point x_(k) on the image plane (the distance on the image between the head vertex and the toe point in the present embodiment), Z_(xck) is expressed by the following equation (21): $\begin{matrix} {Z_{xck} \propto \frac{1}{w_{k}}} & (21) \end{matrix}$

[0138] The following equation (22) holds from the foregoing equations (20) and (21): $\begin{matrix} {s \propto {\frac{1}{a_{m3}\begin{bmatrix} x_{k} \\ 1 \end{bmatrix}} \times \frac{1}{w_{k}}}} & (22) \end{matrix}$

[0139] Since a₃=[0 0 1], the equation (22) is rewritten into the following equation (23): $\begin{matrix} {s \propto \frac{1}{w}} & (23) \end{matrix}$

[0140] The following equation (24) is obtained from the foregoing equations (18) and (23): $\begin{matrix} {X_{ck} \propto {\frac{1}{w_{k}}{A_{k}^{- 1}\begin{bmatrix} x_{k} \\ 1 \end{bmatrix}}}} & (24) \end{matrix}$

[0141] Letting X_(cl) be the three-dimensional position of the person in the camera coordinate system (X_(cl)Y_(cl)Z_(cl)) of the camera C_(l), X_(cl) is also found similarly to X_(ck), and is expressed by the following equation (25): $\begin{matrix} {X_{cl} \propto {\frac{1}{w_{l}}{A_{l}^{- 1}\begin{bmatrix} x_{l} \\ 1 \end{bmatrix}}}} & (25) \end{matrix}$

[0142] In the foregoing equation (25), A_(l) denotes an internal parameter matrix of the camera C_(l), and w_(l) denotes the size of the feature point x_(l) on the image plane of the camera C_(l) (the distance on the image between the head vertex and the toe point in the present embodiment).

[0143] R_(l) denotes a rotation matrix representing the posture of the camera C_(l) in the world coordinate system, and t_(l) denotes a translation vector representing the position of the camera C_(l) in the world coordinate system. When f times of observations are considered, the following equation (26) is obtained: $\begin{matrix} {{{X_{{ck},1} = {{R_{k}R_{l}^{- 1}X_{{cl},1}} + {R_{k}\left( {t_{l} - t_{k}} \right)}}},\vdots}{X_{{ck},f} = {{R_{k}R_{l}^{- 1}X_{{cl},f}} + {{R_{k}\left( {t_{l} - t_{k}} \right)}.}}}} & (26) \end{matrix}$

[0144] When the average of X_(ck) corresponding to f times of observations is found from the foregoing equation (26), the following equation (27) is obtained: $\begin{matrix} {{{\overset{\_}{X}}_{ck} = {{R_{k}R_{l}^{- 1}{\overset{\_}{X}}_{cl}} + {R_{k}\left( {t_{l} - t_{k}} \right)}}}{where}{{\overset{\_}{X}}_{ck} = {\frac{1}{f}\Sigma_{d = 1}^{f}X_{{{ck},d}}}}{{\overset{\_}{X}}_{cl} = {\frac{1}{f}\Sigma_{d = 1}^{f}X_{{{cl},d}}}}} & (27) \end{matrix}$

[0145] The following equation (28) is found from the foregoing equations (26) and (27): $\begin{matrix} {{{{\hat{X}}_{{ck},1} \propto {R_{k}R_{l}^{- 1}{\hat{X}}_{{cl},1}}},\quad \vdots}{{\hat{X}}_{{ck},f} \propto {R_{k}R_{l}^{- 1}{{\hat{X}}_{{cl},f}.{where}}}}{{{\hat{X}}_{{ck},d} = \frac{\left( {X_{{ck},d} - {\overset{\_}{X}}_{ck}} \right)}{{X_{{ck},d} - {\overset{\_}{X}}_{ck}}}},{{\hat{X}}_{{cl},d} = {\frac{\left( {X_{{cl},d} - {\overset{\_}{X}}_{cl}} \right)}{{X_{{cl},d} - {\overset{\_}{X}}_{cl}}}.}}}} & (28) \end{matrix}$

[0146] A rotation matrix satisfying the foregoing equation (28) is such R_(k)R_(L) ⁻¹ that the following equation (29) reaches a minimum: $\begin{matrix} \left. {\sum\limits_{d = 1}^{f}\quad {{{\hat{X}}_{{ck},d} - {\left( {R_{k}R_{l}^{- 1}} \right){\hat{X}}_{{ck},d}}}}^{2}}\rightarrow\min \right. & (29) \end{matrix}$

[0147] This solution is found by decomposing a matrix m_(kl) expressed by the following equation (30) into singular values: $\begin{matrix} {m_{kl} = {\sum\limits_{d = 0}^{f}\quad {{\hat{X}}_{{ck},d}{\hat{X}}_{{cl},d}^{\prime}}}} & (30) \end{matrix}$

[0148] On the other hand, a directional vector y_(kl) (=R_(k) (t_(l)-t_(k))) of the camera C_(l), as viewed from the camera coordinate system of the camera C_(k), is found by substituting the obtained relative posture R_(k)R_(L) ⁻¹ in the foregoing equation (27):

[0149] [2-4] Verification Experiments

[0150] In order to assure the effectiveness of the above-mentioned calibration method, the following experiments were conducted.

[0151] Five cameras (cameras 1 to 5) were used, to previously give the position and posture of the camera 1 and the position of the camera 2 in order to determine the world coordinate system.

[0152] 10000 points were selected at random from a region measuring 150×150×150 [cm] in a scene, and the two cameras were selected at random from the five cameras with respect to each of the points. The two-dimensional observation position and the two-dimensional size were calculated by each of the two cameras, and a Gaussian error was further added to the obtained two-dimensional observation position and two-dimensional size, to respectively find observations in the camera.

[0153] Calibration information related to the position and posture which are stored in each of the cameras was updated by each of the observations.

[0154]FIG. 7 illustrates the results of the estimation of camera parameters in all the cameras.

[0155] In FIG. 7, a graph on the left side indicates the results of the estimation of the positions X, Y, and Z of the camera. In FIG. 7, a graph on the right side indicates the results of the estimation of Euler's angles α, β, and γ respectively representing the postures of the camera. The number of data is used to enter the horizontal axis of each of the graphs.

[0156] As can be seen in FIG. 7, both the position and posture respectively include large errors in the initial stage of calibration. However, an estimation error decreases as the number of data increases, thereby finding that high estimation precisions of an average of 7.35 [cm] in position and an average of 0.85 [deg] in posture are finally obtained. The foregoing results show that the respective positions and postures of a lot of cameras can be estimated by the calibration method shown in the above-mentioned embodiment.

[0157] [3] Description of Modified Example of Camera Position and Posture Estimation Algorithm (Camera Calibration Algorithm)

[0158] In this modified example, the respective positions and postures of all cameras in a system are estimated while achieving geometrical alignment between the two cameras using observation information shared between the cameras. As a basis for giving the world coordinate system, it is necessary to give the positions of the two cameras and the posture of the one camera. The reference cameras need not necessarily share an observation with all the cameras to be calibrated.

[0159] Two-dimensional observation information on each of the cameras is obtained in the following manner. First, an input image is divided into a person region and a background region. A head vertex and a toe point are extracted from the person region as two-dimensional observation information used for estimating the position and posture of the camera.

[0160] In a multi-viewpoint system, for example, the above-mentioned person tracking system, description is now made of a method of estimating the respective positions and postures of all the cameras in the system while achieving geometrical alignment between the two cameras using the observation information shared between the two cameras.

[0161] In order to estimate the respective positions and postures of the cameras, the estimated values of the position and posture of each of the cameras must be held. However, information to be held increase as the number of cameras increases, thereby making it difficult to manage the information in a one-dimensional manner. In this method, therefore, it is considered that the observation information is held in a distributed manner for the cameras, to estimate the respective positions and postures of the cameras in a distributed manner.

[0162] First, an internal parameter in each of the cameras is calculated by an algorithm in Tsai (see the following document 16). Since the internal parameter is independent of the existence of the other camera and the changes in the position and posture thereof, it is considered that there is no problem if the internal parameter and the position and posture are separately calculated. In the following processing, the internal parameter in each of the cameras is known and fixed, to estimate only the position and posture of the camera.

[0163] Document 16: Roger Y. Tsai. A versatile camera calibration technique for high-accuracy 3d machine vision metrology using off-the shelf tv cameras and lenses, IEEE Journal of Robotics and Automation, Vol. 3, No. 4, pp. 323-344, 1987.

[0164]FIG. 8 illustrates the flow of the estimation of the respective positions and postures of the cameras.

[0165] In each of the cameras, the position and posture of the camera are estimated utilizing observation information related to the surrounding cameras sharing an observation with the camera and the estimated values of the position and posture of the camera. Every time a new observation is obtained, the estimation is repeated. The above-mentioned processing is repeated in a distributed manner by all the cameras, thereby making it possible to find the respective positions and postures of the cameras in the overall system.

[0166] Description is now made of the details of the estimation of the respective positions and postures of the cameras.

[0167] [3-1] Geometrical Constraint Between Two Cameras

[0168] Here, description is simply made of epipolar geometry related to an observation between the two cameras.

[0169] It is assumed that the camera C_(k) and the camera C_(l) observe the same three-dimensional point i, and two-dimensional observation positions on the cameras C_(k) and C_(l) are respectively x_(k,i)=(x_(k,i), y_(k,i)) and x_(l,i)=(x_(l,i), y_(l,i))^(t).

[0170] The observations are expressed by the following equations (31) and (32) in a homogeneous coordinate system: $\begin{matrix} {m_{k,i} = {\frac{1}{{x_{k,i}^{2} + y_{k,i}^{2} + f_{k}^{2}}}\begin{bmatrix} x_{k,i} \\ y_{k,i} \\ f_{k} \end{bmatrix}}} & (31) \end{matrix}$

$\begin{matrix} {m_{l,i} = {\frac{1}{{x_{l,i}^{2} + y_{l,i}^{2} + f_{l}^{2}}}\begin{bmatrix} x_{l,i} \\ y_{l,i} \\ f_{l} \end{bmatrix}}} & (32) \end{matrix}$

[0171] Here, f_(k) and f_(l) respectively denote the focal lengths of the cameras C_(k) and C_(l).

[0172] Letting t_(kl) and r_(kl) be respectively the relative position and posture of the camera C_(l) in a coordinate system of the camera C_(k), m_(k,i) and m_(l,i) satisfy the following equation (33): $\begin{matrix} {{m_{k,i}^{t}E_{kl}m_{l,i}} = 0} & (33) \end{matrix}$

[0173] Here, E_(kl) is expressed by the following equation (34) $\begin{matrix} {{E_{kl} = {\left\lbrack t_{kl} \right\rbrack \times r_{kl}}},{\left\lbrack t_{kl} \right\rbrack = \begin{bmatrix} 0 & {- t_{3}} & t_{2} \\ t_{3} & 0 & {- t_{1}} \\ {- t_{2}} & t_{1} & 0 \end{bmatrix}}} & (34) \end{matrix}$

[0174] [3-2] Estimation of Position and Posture of Camera

[0175] Description is made of a method of estimating the respective positions and postures in the world coordinate system of all the cameras in the system using the relationship described in the foregoing item [3-1].

[0176] Here, consider N cameras. Let T_(k) and R_(k) (k=1, . . . , N) be respectively the position and posture of the camera C_(k) in the world coordinate system. When the cameras C_(p) and C_(q) observe the three-dimensional point i, as described in the foregoing item [3-1], the foregoing equation (33) must be satisfied, letting x_(p,i) and x_(q,i) be respectively the two-dimensional observation positions on the cameras.

[0177] If it is assumed that n_(pq) observations shared between the cameras C_(p) and C_(q) are obtained, the relative position and posture t_(pq) and r_(pq) of the camera C_(q) in a coordinate system of the camera C_(p) satisfy the following equation (35): $\begin{matrix} {{\sum\limits_{i = 1}^{n_{pq}}\left( {{m_{p,i}^{t}\left\lbrack t_{pq} \right\rbrack} \times r_{pq}m_{q,i}} \right)^{2}} = 0} & (35) \end{matrix}$

[0178] If it is assumed that eight or more observations are obtained between the cameras C_(p) and C_(q), t_(pq) and r_(pq) can be found by minimizing the left side in the foregoing equation (35), as expressed by the following equation (36): $\begin{matrix} {{\sum\limits_{i = 1}^{n_{pq}}\left( {{m_{p,i}^{t}\left\lbrack t_{pq} \right\rbrack} \times r_{pq}m_{q,i}} \right)^{2}}->\min} & (36) \end{matrix}$

[0179] When the cameras in the overall system are considered, all observations between the two cameras in the system must be considered, thereby minimizing an error J_(all) related to the overall system, as expressed by the following equation (37): $\begin{matrix} \begin{matrix} {J_{all}->\min} \\ {J_{all} = {\sum\limits_{q = 1}^{N}{\sum\limits_{\underset{({p \neq q})}{p = 1}}^{N}{\sum\limits_{i = 1}^{n_{pq}}\left( {{m_{p,i}^{t}\left\lbrack t_{pq} \right\rbrack} \times r_{pq}m_{q,i}} \right)^{2}}}}} \end{matrix} & (37) \end{matrix}$

[0180] The relative position and posture t_(pq) and r_(pq) of the camera C_(q) in the coordinate system of the camera C_(p) can be expressed by the following equations (38) and (39) from the respective positions T_(p) and T_(q) and postures R_(p) and R_(q) in the world coordinate system of the cameras C_(p) and C_(q): $\begin{matrix} {t_{pq} = {R_{p}\frac{T_{q} - T_{p}}{{T_{q} - T_{p}}}}} & (38) \\ {r_{pq} = {R_{p}R_{q}^{- 1}}} & (39) \end{matrix}$

[0181] Consequently, the foregoing equation (37) is changed into the following equation (40): $\begin{matrix} \begin{matrix} {J_{all} = {\sum\limits_{q = 1}^{N}{\sum\limits_{\underset{({p \neq q})}{p = 1}}^{N}{\sum\limits_{i = 1}^{n_{pq}}\left( {m_{p,i}^{t}{R_{p}\left\lbrack \frac{T_{p} - T_{q}}{{T_{p} - T_{q}}} \right\rbrack} \times R_{p}R_{q}^{- 1}m_{q,i}} \right)^{2}}}}} \\ {= {\sum\limits_{q = 1}^{N}{\sum\limits_{\underset{({p \neq q})}{p = 1}}^{N}{\sum\limits_{i = 1}^{n_{pq}}\left( {R_{p}^{- 1}{m_{q,i}^{t}\left\lbrack \frac{T_{p} - T_{q}}{{T_{p} - T_{q}}} \right\rbrack} \times R_{q}^{- 1}m_{q,i}} \right)^{2}}}}} \end{matrix} & (40) \end{matrix}$

[0182] Consequently, the respective positions and postures R_(l), . . . , R_(N) and T_(l), . . . , T_(N) of all the cameras can be calculated by minimizing J_(all).

[0183] In order to minimize J_(all), observation information related to the overall system is required. However, the amount of observation information required for the minimization increases as the number of cameras increases, so that the communication cost for exchanging the observation information between the cameras also increases. Therefore, it is considered that J_(all) is not minimized at one time with respect to the respective positions and postures R_(l), . . . , R_(N) and T_(l), . . . , T_(N) of all the cameras but minimized finally by being minimized in a distributed manner with respect to the cameras.

[0184] Here, consider the minimization of J_(all) related to the camera C_(k). First, J_(all) is divided into a term including information related to the camera C_(k) (the position and posture of the camera C_(k), observation information) and a term including no information. The terms are respectively taken as J_(K) and J_(other). J_(K), J_(other), and J_(all) are expressed by the following equations (41), (42), and (43): $\begin{matrix} \begin{matrix} {J_{k} = {{\sum\limits_{\underset{({q \neq k})}{q = 1}}^{N}{\sum\limits_{i}^{n_{kq}}\left( {R_{k}^{- 1}{m_{k,i}^{t}\left\lbrack \frac{T_{q} - T_{k}}{{T_{q} - T_{k}}} \right\rbrack} \times R_{q}^{- 1}m_{q,i}} \right)^{2}}} +}} \\ {{\sum\limits_{\underset{({p \neq k})}{p = 1}}^{N}{\sum\limits_{i}^{n_{p\quad k}}\left( {R_{p}^{- 1}{m_{p,i}^{t}\left\lbrack \frac{T_{k} - T_{p}}{{T_{k} - T_{p}}} \right\rbrack} \times R_{k}^{- 1}m_{k,i}} \right)^{2}}}} \\ {{2{\sum\limits_{p = 1}^{N}{\sum\limits_{i}^{n_{p\quad k}}\left( {R_{p}^{- 1}{m_{p,i}^{t}\left\lbrack \frac{T_{k} - T_{p}}{{T_{k} - T_{p}}} \right\rbrack} \times R_{k}^{- 1}m_{k,i}} \right)^{2}}}}} \end{matrix} & (41) \\ {J_{other} = {\sum\limits_{\underset{({q \neq k})}{q = 1}}^{N}{\sum\limits_{\underset{({{p \neq k},q})}{p = 1}}^{N}{\sum\limits_{i}^{n_{p\quad q}}\left( {R_{p}^{- 1}{m_{p,i}^{t}\left\lbrack \frac{T_{q} - T_{p}}{{T_{q} - T_{p}}} \right\rbrack} \times R_{q}^{- 1}m_{q,i}} \right)^{2}}}}} & (42) \\ {J_{all} = {J_{k} + J_{other}}} & (43) \end{matrix}$

[0185] J_(k) is then minimized with respect to R_(k) and T_(k). Here, J_(other) does not include the term related to the camera C_(k). Even if R_(k) and T_(k) are changed by minimizing J_(k), therefore, J_(other) is not changed.

[0186] In order to minimize J_(k) on the camera C_(k), only an observation obtained on the camera C_(k) and an observation, of a camera, shared with the camera C_(k) are required. In each of the cameras, therefore, only information related to the camera may be stored, as shown in FIG. 8, thereby making it possible to reduce the amount of information, which should be stored in the camera, required to estimate the position and posture of the camera.

[0187] The minimization is independently performed with respect to all the cameras C_(k) (k=1, . . . , N), thereby making it possible to finally minimize the error J_(all) in the overall system.

[0188] As described in the foregoing, processing for storing observation data required to estimate the position and posture of each of the cameras and estimating the position and posture of the camera is performed in a distributed manner in the cameras in this method. Accordingly, it is considered that the method is suitable for a distributing system.

[0189] Description is now made of the minimization of J_(k) performed in a distributed manner in the cameras.

[0190] [3-2-1] Estimation of Position and Posture of Camera by Information Related to Surrounding Cameras

[0191] Description is herein made of a method of minimizing the error J_(k) related to the camera C_(k) and estimating the position and posture T_(k) and R_(k) of the camera C_(k).

[0192] (1) Calculation of Initial Estimated Values R_(k) ⁽¹⁾ of R_(k) and T_(k)

[0193] A group of cameras G (G={C_(g1), C_(g2), . . . , C_(gm)}), whose respective positions and postures are known or whose initial estimated position and posture values have already been determined, sharing not less than a predetermined number of observations, out of cameras surrounding the camera C_(k) is selected.

[0194] In the group of cameras G, the estimated posture value R_(k) in the world coordinate system of the camera C_(k) is calculated on the basis of the following equation (44) from the relative relationship between the camera C_(k) and the camera C_(l) which shares the largest number of observations with the camera C_(k):

R_(k)=r_(lk)R_(l)   (44)

[0195] Here, r_(lk) can be calculated by decomposing E_(kl) satisfying the foregoing equation (36) into r_(kl) and t_(kl) using eigen value decomposition and singular value decomposition (see the following document 17):

[0196] Document 17: M. E. Spetsakis and J. (Y.) Aloimonos. Optimal computing of structure from motion using point correspondences in two frames. In Proc. of ICCV, pp. 449-453, 1998.

[0197] J_(k)′ is defined, as expressed by the following equation (45), utilizing only the observations shared with the group of cameras G: $\begin{matrix} {J_{k}^{\prime} = {\sum\limits_{p \in {\{{g_{1},g_{2},{\cdots \quad g_{m}}}\}}}{\sum\limits_{i}^{n_{p\quad k}}\left( {R_{p}^{- 1}{m_{p,i}^{t} \cdot \left\lbrack \frac{T_{k} - T_{p}}{{T_{k} - T_{p}}} \right\rbrack} \times R_{k}^{- 1}m_{k,i}} \right)^{2}}}} & (45) \end{matrix}$

[0198] Such T_(k) that J_(k)′ reaches a minimum is then calculated, as expressed by the following equation (46): $\begin{matrix} {\frac{J_{k}^{\prime}}{T_{k}} = 0} & (46) \end{matrix}$

[0199] When J_(k)′<ε(ε is a threshold value), the estimated position and posture values T_(k) and R_(k) of the camera C_(k) which are calculated in the foregoing manner are respectively taken as initial estimated position and posture values T_(k) ⁽¹⁾ and R_(k) ⁽¹⁾.

[0200] (2) Calculation of T_(k) ^((t)) in R_(k) ^((t−1))

[0201] As such T_(k) that J_(k) reaches a minimum, T_(k) satisfying the following equation (47) may be found: $\begin{matrix} {\frac{J_{k}}{T_{k}} = 0} & (47) \end{matrix}$

[0202] T_(k) satisfying the foregoing equation (47) can be calculated as a function of R₁, . . . , R_(N), . . . , T_(l), . . . , T_(N), as expressed by the following equation (48):

T _(k) =f(R ₁ , . . . ,R _(N) ,T ₁ , . . . ,T _(N))   (48)

[0203] (3) Updating of R_(k) ^((t))

[0204] J_(k) related to R_(k) is minimized by numerical calculation.

[0205] Letting (Δ_(ω1) Δ_(ω2) Δ_(ω3)) be respectively slight rotations around the X-axis, the Y-axis, and the Z-axis, and ΔR be a slight rotation matrix, ΔR is expressed by the following equation (49): $\begin{matrix} {{\Delta \quad R} = \begin{bmatrix} 0 & {{- \Delta}\quad \omega_{3}} & {\Delta \quad \omega_{2}} \\ {\Delta \quad \omega_{3}} & 0 & {{- \Delta}\quad \omega_{1}} \\ {{- \Delta}\quad \omega_{2}} & {\Delta \quad \omega_{1}} & 0 \end{bmatrix}} & (49) \end{matrix}$

[0206] Here, (Δ_(ω1) Δ_(ω2) Δ_(ω3)) satisfying the following equation (50) is calculated, letting R_(k) ^((t))=ΔRR_(k) ^((t−1)) (see the forgoing document 17): $\begin{matrix} {{J_{k}\left( R_{k}^{(t)} \right)} < {J_{k}\left( R_{k}^{({t - 1})} \right)}} & (50) \end{matrix}$

[0207] Such R_(k) that J_(k) reaches a minimum can be found by repeating the foregoing calculations:

[0208] The position and posture of the camera C_(k) can be found by the procedure herein described. Further, the respective positions and postures of all the cameras satisfying the foregoing equation (40) can be found by repeating the foregoing procedure by all the cameras.

[0209] [3-3] Installation of New Camera and Deletion of Camera

[0210] When a new camera is installed in a multi-viewpoint system, for example, the above-mentioned person tracking system, the initial posture is calculated from the relative relationship between the new camera and the surrounding camera, whose posture is known, sharing an observation with the new camera as at the time of initial calibration, to start the estimation of the position and posture.

[0211] When the camera is deleted, a term related to the camera to be deleted is deleted from the evaluated value J_(all).

[0212] [3-4] Correction of Time Difference Between Observations

[0213] In the estimation of the position and posture of the camera by the method, the results of the observations at the same time between the two cameras are required. However, the person tracking system described in the foregoing item [1] is an asynchronous system. Accordingly, the times at which the observations are carried out generally differ. Therefore, the time difference in the observation between the two cameras must be corrected.

[0214] Letting x_(k)(t) be the two-dimensional observation position at the time t with respect to the camera C_(k). It is assumed that observations x_(k)(t₁) and x_(k)(t₃) by the camera C_(k) and an observation x₁(t₂) by the camera C₁ are obtained. Here, t₁<t₂<t₃ and t₃−t₁<ε.

[0215] At this time, a corrected observation position {circumflex over (x)}_(k)(t₂) in the camera C_(k) is found from the following equation (51). The obtained {circumflex over (x)}_(k)(t₂) and x_(l)(t₂) are used for estimating the position and posture as corresponding observations between the cameras C_(k) and C_(l). $\begin{matrix} {{{\hat{x}}_{k}\left( t_{2} \right)} = {{x_{k}\left( t_{1} \right)} + {\frac{t_{2} - t_{1}}{t_{3} - t_{1}}\left( {{x_{k}\left( t_{3} \right)} - {x_{k}\left( t_{1} \right)}} \right)}}} & (51) \end{matrix}$

[0216] [3-5] Experiments

[0217] Experiments were first conducted by a system comprising four cameras. The four cameras (cameras 1 to 4) were arranged, as shown in FIG. 9, to previously give the position and posture of the camera 1 and the position of the camera 2 in order to determine a world coordinate system. In order to evaluate the precision of estimated values, the position and posture of each of the cameras were found by manual work.

[0218] An observation for about three minutes was carried out with respect to a person who moves within a scene by the five cameras. At this time, two-dimensional observation information obtained by each of the cameras 1 to 4 is illustrated in FIG. 10.

[0219] Here, approximately 500 sets of observation information shared between the two cameras were obtained from the obtained observation information. The position and posture of each of the cameras are updated by the observation information.

[0220]FIG. 11 illustrates the results of the estimation of all camera parameters. In FIG. 11, a graph on the left side indicates the results of the estimation of the positions X, Y, and Z of the camera. In FIG. 11, a graph on the right side indicates the results of the estimation of Euler's angles α, β, and γ respectively representing the postures of the camera. The number of data is used to enter the horizontal axis of each of the graphs.

[0221] As can be seen in FIG. 11, both the position and posture respectively include large errors in the initial stage of calibration. However, an estimation error decreases as the number of data increases, thereby finding that respective high estimation precisions of about 10 [cm] or less in position and about 3 [deg] or less in posture are finally obtained.

[0222] Although the present invention has been described and illustrated in detail, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, the spirit and scope of the present invention being limited only by the terms of the appended claims. 

What is claimed
 1. In an automatic camera calibration method in a system comprising a plurality of cameras, the automatic camera calibration method comprising the step of: updating, for each of the cameras, the estimated values of the position and posture of the camera on the basis of observation information shared with the surrounding cameras and the estimated values of the respective current positions and postures of the surrounding cameras.
 2. The automatic camera calibration method according to claim 1, wherein the observation information is the two-dimensional coordinate value of an image to be observed on an image plane of the camera and the size of the image to be observed.
 3. The automatic camera calibration method according to claim 1, wherein processing for updating the estimated values of the position and posture of each of the cameras comprises a first step of calculating information related to the relative posture and relative position between the camera and the other surrounding cameras on the basis of the observation information shared with the other surrounding cameras and the estimated values of the respective current positions and postures of the camera and the other cameras, and a second step of updating the estimated values of the position and posture of the camera on the basis of the information related to the relative posture and relative position calculated in the first step.
 4. The automatic camera calibration method according to claim 3, wherein each of the cameras holds the estimated value of the posture of each of the surrounding cameras, information related to the estimation precision of the respective postures of the camera and each of the surrounding cameras, the estimated value of the position of each of the surrounding cameras, and the estimation precision of the respective positions of the camera and each of the surrounding cameras, and said second step of updating the estimated values of the position and posture of each of the cameras comprising the steps of updating the estimated value of the posture of the camera on the basis of the information related to the relative posture calculated in said first step, the estimated value of the posture of each of the surrounding cameras which is held by the camera, and the information related to the estimation precision of the respective postures of the camera and each of the surrounding cameras, and updating the estimated value of the position of the camera on the basis of the information related to the relative position calculated in said first step, the estimated value of the position of each of the surrounding cameras which is held by the camera, and the information related to the estimation precision of the respective positions of the camera and each of the surrounding cameras.
 5. The automatic camera calibration method according to claim 1, wherein the processing for updating the estimated values of the position and posture of each of the cameras is performed every time new observation information is obtained in the camera.
 6. The automatic camera calibration method according to claim 1, wherein the posture in a world coordinate system of at least one camera and the positions in the world coordinate system of at least two cameras are given as bases in order to determine world coordinates.
 7. The automatic camera calibration method according to claim 1, wherein the observation information is the two-dimensional coordinate value of an image to be observed on the image plane shared between at least the two cameras.
 8. The automatic camera calibration method according to claim 7, wherein in the processing for updating the estimated values of the position and posture of each of the cameras, processing for updating the estimated values of the position and posture of the camera on the basis of the observation information shared with the other surrounding cameras and the estimated values of the respective current positions and postures of the other cameras is performed in a distributed manner for the cameras. 